diff options
| -rw-r--r-- | ll-can-binding.c | 124 | ||||
| -rw-r--r-- | ll-can-binding.h | 43 |
2 files changed, 95 insertions, 72 deletions
diff --git a/ll-can-binding.c b/ll-can-binding.c index bc52d17f..ae748b9d 100644 --- a/ll-can-binding.c +++ b/ll-can-binding.c @@ -14,6 +14,7 @@ * See the License for the specific language governing permissions and * limitations under the License. */ + #define _GNU_SOURCE #include <string.h> @@ -37,7 +38,7 @@ #include <afb/afb-binding.h> #include <afb/afb-service-itf.h> -#include "canLL-binding.h" +#include "ll-can-binding.h" /*************************************************************************/ /*************************************************************************/ @@ -57,7 +58,6 @@ * return : 0 if ok, -1 if failed * */ -static int retry( int(*func)()); static int retry( int(*func)()) { int i; @@ -74,6 +74,23 @@ static int retry( int(*func)()) } /* + * Test that socket is really opened + * + * param + * + * return : 0 or positive int if ok, negative value if failed + * + */ +static int socket_test() +{ + if (can_handler.socket < 0) + { + return -1; + } + return 0; +} + +/* * Browse chained list and return the one with specified id * * param uint32_t id : can arbitration identifier @@ -113,7 +130,7 @@ static can_event *get_event_of_id(uint32_t id) /* * Take an id and return it into a char array */ -char* create_name(uint32_t id) +static char* create_name(uint32_t id) { char name[32]; size_t nchar; @@ -130,6 +147,33 @@ char* create_name(uint32_t id) return NULL; } +/* + * Create json object that will be pushed through event_loop to any subscriber + * + * param : openxc_CanMessage structure complete with data to put into json + * object. + * + * return : json object + * + * + */ +static json_object* create_json_from_openxc_CanMessage(event *event) +{ + struct json_object *json; + openxc_CanMessage can_message; + + /* + * TODO: process the openxc_CanMessage struct. Should be a call to a + * decoder function relative to that msg + */ + can_message = event->can_message; + + json = json_object_new_object(); + json_object_object_add(json, "name", json_object_new_string(event->name)); + + return json; +} + /*************************************************************************/ /*************************************************************************/ /** **/ @@ -227,13 +271,22 @@ static int write_can() /* * Read on CAN bus and return how much bytes has been read. - * TODO : test that socket is really opened */ static int read_can(openxc_CanMessage *can_message) { ssize_t nbytes; int maxdlen; + /* Test that socket is really opened */ + if ( socket_test < 0) + { + if (retry(open_can_dev) < 0) + { + ERROR(interface, "read_can: Socket unavailable"); + return -1; + } + } + nbytes = read(can_handler.socket, &canfd_frame, CANFD_MTU); if (nbytes == CANFD_MTU) @@ -249,7 +302,7 @@ static int read_can(openxc_CanMessage *can_message) if (errno == ENETDOWN) ERROR(interface, "read_can: %s interface down", can_handler.device); ERROR(interface, "read_can: Error reading CAN bus"); - return -1; + return -2; } /* CAN frame integrity check */ @@ -260,7 +313,7 @@ static int read_can(openxc_CanMessage *can_message) else { ERROR(interface, "read_can: CAN frame incomplete"); - return -2; + return -3; } parse_can_frame(can_message, &canfd_frame, maxdlen); @@ -275,52 +328,49 @@ static void parse_can_frame(openxc_CanMessage *can_message, struct canfd_frame * { int i,offset; int len = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len; - char buf[CL_CFSZ]; + can_message->has_id = true; if (canfd_frame->can_id & CAN_ERR_FLAG) + can_message->id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + else if (canfd_frame->can_id & CAN_EFF_FLAG) { - can_message->has_id = true; - can_message->id = canfd_frame->can_id; - put_eff_id(buf, canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG)); - buf[8] = '#'; - offset = 9; - } else if (canfd_frame->can_id & CAN_EFF_FLAG) + can_message->has_frame_format = true; + can_message->frame_format = openxc_CanMessage_FrameFormat_EXTENDED; + can_message->id = canfd_frame->can_id & CAN_EFF_MASK; + } else { - put_eff_id(buf, canfd_frame->can_id & CAN_EFF_MASK); - buf[8] = '#'; - offset = 9; - } else { - put_sff_id(buf, canfd_frame->can_id & CAN_SFF_MASK); - buf[3] = '#'; - offset = 4; + can_message->has_frame_format = true; + can_message->frame_format = openxc_CanMessage_FrameFormat_STANDARD; + can_message->id = canfd_frame->can_id & CAN_SFF_MASK; } /* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */ if (maxdlen == CAN_MAX_DLEN && canfd_frame->can_id & CAN_RTR_FLAG) { - buf[offset++] = 'R'; - /* print a given CAN 2.0B DLC if it's not zero */ + /* Don't know what to do with that for now as we haven't + * len fields in openxc_CanMessage struct + * + * print a given CAN 2.0B DLC if it's not zero if (canfd_frame->len && canfd_frame->len <= CAN_MAX_DLC) buf[offset++] = hex_asc_upper[canfd_frame->len & 0xF]; - buf[offset] = 0; + buf[offset] = 0;*/ return; } if (maxdlen == CANFD_MAX_DLEN) { /* add CAN FD specific escape char and flags */ - buf[offset++] = '#'; - buf[offset++] = hex_asc_upper[canfd_frame->flags & 0xF]; + canfd_frame->flags & 0xF; } for (i = 0; i < len; i++) { - put_hex_byte(buf + offset, canfd_frame->data[i]); - offset += 2; + //put_hex_byte(buf + offset, canfd_frame->data[i]); + //offset += 2; } - buf[offset] = 0; +// buf[offset] = 0; return; } @@ -381,17 +431,26 @@ static event *get_event(uint32_t id, enum type type) } /* - * Send an event + * Send all events */ static void send_event() { can_event *current; + event *events; + json_object *object; - /* search for id */ + /* Browse can_events */ current = can_events_list; while(current) { - afb_event_push(current->afb_event, object); + /* Browse event for each can_events no matter what the id */ + events = current->events; + while(events) + { + object = create_json_from_openxc_CanMessage(events); + afb_event_push(events->afb_event, object); + events = events->next; + } current = current->next; } } @@ -427,7 +486,6 @@ static int connect_to_event_loop() return rc; } - /*************************************************************************/ /*************************************************************************/ /** **/ @@ -522,7 +580,7 @@ static void unsubscribe(struct afb_req req) afb_req_fail(req, "bad-id", NULL); else { - afb_req_unsubscribe(req, event->event); + afb_req_unsubscribe(req, event->afb_event); afb_req_success(req, NULL, NULL); } } diff --git a/ll-can-binding.h b/ll-can-binding.h index 3b0bd646..1c993d7f 100644 --- a/ll-can-binding.h +++ b/ll-can-binding.h @@ -15,19 +15,6 @@ * limitations under the License. */ -/* max. number of CAN interfaces given on the cmdline */ -#define MAXSOCK 16 - -/* buffer sizes for CAN frame string representations */ -#define CL_ID (sizeof("12345678##1")) -#define CL_DATA sizeof(".AA") -#define CL_BINDATA sizeof(".10101010") - - /* CAN FD ASCII hex short representation with DATA_SEPERATORs */ -#define CL_CFSZ (2*CL_ID + 64*CL_DATA) - -#define CANID_DELIM '#' - /* * Interface between the daemon and the binding */ @@ -92,32 +79,6 @@ can_event *can_events_list; /* TODO : Add help comments :p */ static int connect_to_event_loop(); -const char hex_asc_upper[] = "0123456789ABCDEF"; - -#define hex_asc_upper_lo(x) hex_asc_upper[((x) & 0x0F)] -#define hex_asc_upper_hi(x) hex_asc_upper[((x) & 0xF0) >> 4] - -static inline void put_hex_byte(char *buf, __u8 byte) -{ - buf[0] = hex_asc_upper_hi(byte); - buf[1] = hex_asc_upper_lo(byte); -} - -static inline void _put_id(char *buf, int end_offset, canid_t id) -{ - /* build 3 (SFF) or 8 (EFF) digit CAN identifier */ - while (end_offset >= 0) { - buf[end_offset--] = hex_asc_upper[id & 0xF]; - id >>= 4; - } -} - -#define put_sff_id(buf, id) _put_id(buf, 2, id) -#define put_eff_id(buf, id) _put_id(buf, 7, id) - -static void parse_can_frame(openxc_CanMessage *can_message, struct canfd_frame *canfd_frame, int maxdlen); - - // Initialize default can_handler values static struct can_handler can_handler = { .socket = -1, @@ -126,3 +87,7 @@ static struct can_handler can_handler = { }; static void send_event(); + +static int retry( int(*func)()); + +static void parse_can_frame(openxc_CanMessage *can_message, struct canfd_frame *canfd_frame, int maxdlen); |